Tracking with bistatic radar measurements is confronted with the challenge that the state dynamic equation is linear whereas the measurements are nonlinear functions of the Cartesian state. Typically, some approaches to deal with nonlinear measurements convert the state prediction into the measurement coordinates using the nonlinear observation function, such as the extended Kalman filter (EKF), the unscented Kalman filter (UKF) [1]} and the cubature Kalman filter (CKF) [2]}.
